Calinon, S. and Billard, A. (2007)
Active Teaching in Robot Programming by Demonstration
In Proc. of the IEEE Intl Symp. on Robot and Human Interactive Communication (RO-MAN), Jeju, Korea, pp. 702-707.


Robot Programming by Demonstration (RbD) covers methods by which a robot learns new skills through human guidance. In this work, we take the perspective that the role of the teacher is more important than just being a model of successful behaviour, and present a probabilistic framework for RbD which allows to extract incrementally the essential characteristics of a task described at a trajectory level. To demonstrate the feasibility of our approach, we present two experiments where new manipulation skills are transferred to a humanoid robot by using active teaching methods that put the human teacher in the loop of the robot's learning. The robot first observes the task performed by the user (through motion sensors) and the robot's skill is then refined by embodying the robot and putting it through the motion (kinesthetic teaching).

Bibtex reference

  author="S. Calinon and A. Billard",
  title="Active Teaching in Robot Programming by Demonstration",
  booktitle="Proceedings of the {IEEE} International Symposium on Robot and Human Interactive Communication ({RO-MAN})",
  year = "2007",
  location="Jeju, Korea",


Incremental learning by using different teaching methods. The robot first observes the user demonstrating the skill through the use of motion sensors. Then, the user is supporting the robot during its reproduction attempts, providing scaffolds to help the robot fulfill the task constraints.

Go back to the list of publications